JP7617331B2 - Work vehicles - Google Patents

Description

The present invention relates, for example, to a work vehicle.

Conventionally, the agricultural work machine disclosed in Patent Document 1 is known. The agricultural work machine in Patent Document 1 is equipped with a traveling body that can freely switch between manual traveling with manual steering and automatic traveling with automatic steering along a set traveling line that is set parallel to a reference traveling line, and a changeover switch that can freely switch between manual traveling and automatic traveling. In addition, the agricultural work machine sets the start point of the reference traveling line after pressing the right instruction button while traveling along a ridge, and sets the end point of the reference traveling line by pressing the left instruction button while traveling. In other words, the reference traveling line is set before automatic steering.

JP 2017-123803 A

In the agricultural machine of Patent Document 1, automatic driving can be easily achieved by switching from manual driving to automatic driving using a changeover switch. In reality, the intervals between the set driving lines in Patent Document 1 are fixed and cannot be changed arbitrarily during operation.

In view of the above problems, the present invention aims to provide a work vehicle that can easily perform automatic steering according to the work situation.

The technical means of the present invention to solve this technical problem are characterized as follows:

The work vehicle comprises a driver's seat, a steering wheel, a registration switch capable of setting a start point and an end point, a vehicle body capable of running either by manual steering using the steering wheel or automatic steering of the steering wheel which steers the direction of travel so as to match a planned driving line parallel to a planned driving reference line set based on the start point and the end point, a traveling device which runs the vehicle body, a steering changeover switch which switches between starting and ending the automatic steering, an automatic steering control unit which controls the automatic steering based on the planned driving line, a connecting unit which is provided on the vehicle body and to which a work device can be attached, and a display device which can display a screen for changing the sensitivity of control in the automatic steering, the display device being capable of changing the magnitude of the steering angle relative to the deviation in the automatic steering as the sensitivity on the screen, and the sensitivity indicating the degree of response of the change in steering angle to the deviation in the automatic steering .

The display device can change the magnitude of the steering angle relative to the deviation in the automatic steering as the sensitivity in multiple steps on the screen.

The present invention makes it easy to perform automatic steering according to the work situation.

FIG. 2 is a diagram showing the configuration and control block diagram of a tractor. FIG. 2 is an explanatory diagram for explaining automatic steering. FIG. 4 is an explanatory diagram illustrating the operation of automatic steering. 1A to 1C are diagrams showing examples of a driving screen M1, a guidance screen M2, and a setting screen M3. 13A and 13B are diagrams showing examples of a turning guidance screen M2a and a row-to-row guidance screen M2b. FIG. 2 is a schematic diagram showing a simple example of straight-line driving to turning J1. 1 is a diagram showing a state in which the heading (vehicle body heading) F1 of the traveling direction is different from the heading (line heading) F2 of the driving reference line L1. FIG. 13 is a diagram showing an example of a turning guidance screen M2a when the azimuth difference ΔF3 is the same. FIG. 13 is a diagram showing an example of a turning guidance screen M2a when the azimuth difference ΔF3 is different. FIG. 13 is a diagram showing an example of a turning guidance screen M2a when the azimuth difference ΔF3 falls within a threshold value after turning. FIG. 13 is a diagram showing an example of a home setting screen M3a. FIG. 13 is a diagram showing a state where a home setting screen M3a is switched to a detailed setting screen M3b. FIG. 13 is a diagram showing an example of a detailed setting screen M3b1. FIG. 13 is a diagram showing an example of a detailed setting screen M3b2. FIG. 13 is a diagram showing an example of a detailed setting screen M3b3. FIG. 11 is a diagram showing an operation flow by operating an input button. FIG. 13 is a diagram showing a travel trajectory of a tractor in which a start point and an end point of automatic steering are set. 13A to 13C are diagrams showing a flow of changing the adjacent width L10 by the changing operation member. FIG. 13 is a diagram showing a flow of automatic change of adjacent width L10. FIG. 13 is a diagram showing the row-to-row assist when the adjacent width L10 is not changed. FIG. 13 is a diagram showing the row-to-row assist when the adjacent width L10 is changed. FIG. 11 is a diagram illustrating the operation of the notification device. FIG. FIG.

The following describes an embodiment of the present invention with reference to the drawings.

Figure 18 is a side view showing one embodiment of the work vehicle 1, and Figure 18 is a plan view showing one embodiment of the work vehicle 1. In this embodiment, the work vehicle 1 is a tractor. However, the work vehicle 1 is not limited to a tractor, and may be an agricultural machine (agricultural vehicle) such as a combine harvester or transplanter, or a construction machine (construction vehicle) such as a loader work machine.

Figure 18 is a side view showing the work vehicle 1. The tractor (work vehicle) 1 will be described using Figure 18 and other figures. Hereinafter, the front side of the driver seated in the driver's seat 10 of the tractor (work vehicle) 1 will be referred to as the front, the rear side of the driver as the rear, the left side of the driver as the left side, and the right side of the driver as the right side. In addition, the horizontal direction that is perpendicular to the fore-and-aft direction of the work vehicle 1 will be described as the vehicle body width direction.

As shown in FIG. 18, the tractor 1 includes a body 3, a prime mover 4, and a transmission 5. The body 3 has a running device 7 and is capable of running. The running device 7 is a device having front wheels 7F and rear wheels 7R. The front wheels 7F may be of either a tire type or a crawler type. The rear wheels 7R may also be of either a tire type or a crawler type.

The prime mover 4 is a diesel engine, an electric motor, or the like, and in this embodiment is configured as a diesel engine. The transmission 5 can change the propulsive force of the traveling device 7 by changing the speed, and can also switch the traveling device 7 between forward and reverse. The vehicle body 3 is provided with a driver's seat 10.

A connecting section 8 consisting of a three-point link mechanism or the like is provided at the rear of the vehicle body 3. The working device 2 can be attached and detached to the connecting section 8. By connecting the working device 2 to the connecting section 8, the working device 2 can be towed by the vehicle body 3. The working device 2 is a tilling device for tilling, a fertilizer spreading device for spreading fertilizer, a pesticide spreading device for spreading pesticide, a harvesting device for harvesting, a reaping device for reaping grass, etc., and is a device that performs work on the ground (ground work) in a field, etc.

As shown in FIG. 1, the transmission 5 includes a main shaft (drive shaft) 5a, a main speed change section 5b, a sub-speed change section 5c, a shuttle section 5d, a PTO power transmission section 5e, and a front speed change section 5f. The drive shaft 5a is rotatably supported in a housing case (transmission case) of the transmission 5, and power is transmitted to the drive shaft 5a from the crankshaft of the prime mover 4. The main speed change section 5b has multiple gears and a shifter that changes the connection of the gears. The main speed change section 5b changes and outputs (shifts) the rotation input from the drive shaft 5a by appropriately changing the connection (meshing) of the multiple gears with the shifter.

The sub-transmission unit 5c, like the main transmission unit 5b, has multiple gears and a shifter that changes the connection of the gears. The sub-transmission unit 5c changes and outputs (shifts) the rotation input from the main transmission unit 5b by appropriately changing the connection (meshing) of the multiple gears with the shifter.

The shuttle section 5d has a shuttle shaft 12 and a forward/reverse switching section 13. Power output from the sub-transmission section 5c is transmitted to the shuttle shaft 12 via gears or the like. The forward/reverse switching section 13 is composed of, for example, a hydraulic clutch, and switches the rotation direction of the shuttle shaft 12, i.e., the forward and reverse of the tractor 1, by engaging and disengaging the hydraulic clutch. The shuttle shaft 12 is connected to a rear wheel differential device 20R. The rear wheel differential device 20R rotatably supports a rear axle 21R to which the rear wheels 7R are attached.

The PTO power transmission unit 5e has a PTO propulsion shaft 14 and a PTO clutch 15. The PTO propulsion shaft 14 is supported so as to be freely rotatable, and power from the propulsion shaft 5a can be transmitted. The PTO propulsion shaft 14 is connected to the PTO shaft 16 via gears or the like. The PTO clutch 15 is composed of, for example, a hydraulic clutch, and by turning the hydraulic clutch on and off, the state is switched between one in which the power of the propulsion shaft 5a is transmitted to the PTO propulsion shaft 14 and one in which the power of the propulsion shaft 5a is not transmitted to the PTO propulsion shaft 14.

The front transmission section 5f has a first clutch 17 and a second clutch 18. The first clutch 17 and the second clutch 18 can transmit power from the drive shaft 5a, for example, the power of the shuttle shaft 12 is transmitted via a gear and a transmission shaft. The power from the first clutch 17 and the second clutch 18 can be transmitted to the front axle 21F via the front transmission shaft 22. Specifically, the front transmission shaft 22 is connected to the front wheel differential device 20F, and the front wheel differential device 20F rotatably supports the front axle 21F to which the front wheels 7F are attached.

The first clutch 17 and the second clutch 18 are composed of hydraulic clutches or the like. An oil passage is connected to the first clutch 17, and the oil passage is connected to a first operating valve 25 to which hydraulic oil discharged from a hydraulic pump 33 is supplied. The first clutch 17 is switched between an engaged state and a disengaged state depending on the opening degree of the first operating valve 25. An oil passage is connected to the second clutch 18, and the oil passage is connected to a second operating valve 26. The second clutch 18 is switched between an engaged state and a disengaged state depending on the opening degree of the second operating valve 26. The first operating valve 25 and the second operating valve 26 are, for example, two-position switching valves with solenoid valves, and are switched between an engaged state and a disengaged state by energizing or deenergizing the solenoid of the solenoid valve.

When the first clutch 17 is disconnected and the second clutch 18 is connected, the power of the shuttle shaft 12 is transmitted to the front wheels 7F through the second clutch 18. As a result, the front wheels 7F and the rear wheels 7R are driven by power in four-wheel drive (4WD) and the rotation speeds of the front wheels 7F and the rear wheels 7R are approximately the same (4WD constant speed state). On the other hand, when the first clutch 17 is connected and the second clutch 18 is disconnected, the vehicle is in four-wheel drive and the rotation speed of the front wheels 7F is faster than the rotation speed of the rear wheels 7R (4WD speed increase state). Also, when the first clutch 17 and the second clutch 18 are disconnected, the power of the shuttle shaft 12 is not transmitted to the front wheels 7F, and the vehicle is in two-wheel drive (2WD) with the rear wheels 7R driven by power.

The tractor 1 is equipped with a positioning device 40. The positioning device 40 can detect its own position (positioning information including latitude and longitude) using a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the positioning device 40 receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and detects the position (e.g., latitude and longitude) based on the satellite signal. The positioning device 40 has a receiving device 41 and an inertial measurement unit (IMU) 42. The receiving device 41 is a device that has an antenna and receives satellite signals transmitted from the positioning satellite, and is attached to the vehicle body 3 separately from the inertial measurement unit 42. In this embodiment, the receiving device 41 is attached above the roof of the cabin via a support member. Note that the attachment location of the receiving device 41 is not limited to the embodiment.

The inertial measurement unit 42 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, etc. It is installed in the vehicle body 3, for example, below the driver's seat 10, and the inertial measurement unit 42 can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3.

As shown in FIG. 1, the tractor 1 is equipped with a steering device 11. The steering device 11 is a device that can perform manual steering, in which the vehicle body 3 is steered by the driver's operation, and automatic steering, in which the vehicle body 3 is steered automatically without the driver's operation.

The steering device 11 has a steering handle (steering wheel) 30 and a steering shaft (rotating shaft) 31 that rotatably supports the steering handle 30. The steering device 11 also has an auxiliary mechanism (power steering device) 32. The auxiliary mechanism 32 assists the rotation of the steering shaft 31 (steering handle 30) by hydraulic pressure or the like. The auxiliary mechanism 32 includes a hydraulic pump 33, a control valve 34 to which hydraulic oil discharged from the hydraulic pump 33 is supplied, and a steering cylinder 35 operated by the control valve 34. The control valve 34 is, for example, a three-position switching valve that can be switched by the movement of a spool or the like, and switches in accordance with the steering direction (rotation direction) of the steering shaft 31. The steering cylinder 35 is connected to an arm (knuckle arm) that changes the direction of the front wheels 7F.

Therefore, when the driver grips the steering wheel 30 and turns it in one direction or the other, the switching position and opening of the control valve 34 change in response to the direction of rotation of the steering wheel 30, and the steering cylinder 35 expands or contracts to the left or right according to the switching position and opening of the control valve 34, thereby changing the steering direction of the front wheels 7F. In other words, the vehicle body 3 can change its traveling direction to the left or right by manually steering the steering wheel 30.

As shown in FIG. 2, when performing automatic steering, a driving reference line L1 is first set before performing automatic steering. After setting the driving reference line L1, automatic steering can be performed by setting a planned driving line L2 that is parallel to the driving reference line L1. In automatic steering, the tractor 1 (body 3) is automatically steered in the direction of travel so that the vehicle position measured by the positioning device 40 coincides with the planned driving line L2.

Specifically, before automatic steering is performed, the tractor 1 (body 3) is moved to a predetermined position in the field (S1), and when the driver operates the steering changeover switch (registration switch) 52 provided on the tractor 1 at the predetermined position (S2), the body position measured by the positioning device 40 is set to the start point P10 of the driving reference line L1 (S3). In addition, the tractor 1 (body 3) is moved from the start point P10 of the driving reference line L1 (S4), and when the driver operates the steering changeover switch (registration switch) 52 at the predetermined position (S5), the body position measured by the positioning device 40 is set to the end point P11 of the driving reference line L1 (S6). Therefore, the straight line connecting the start point P10 and the end point P11 is set as the driving reference line L1.

After the driving reference line L1 is set (after S6), for example, the tractor 1 (body 3) is moved to a location different from the location where the driving reference line L1 was set (S7), and when the driver operates the steering changeover switch 52 (S8), a driving plan line L2, which is a straight line parallel to the driving reference line L1, is set (S9). After the driving plan line L2 is set, automatic steering is started, and the traveling direction of the tractor 1 (body 3) is changed to follow the driving plan line L2. For example, if the current vehicle position is on the left side of the driving plan line L2, the front wheels 7F are steered to the right, and if the current vehicle position is on the right side of the driving plan line L2, the front wheels 7F are steered to the left. During automatic steering, the driving speed (vehicle speed) of the tractor 1 (body 3) can be changed by the driver manually changing the amount of operation of the accelerator (accelerator pedal, accelerator lever) 210 provided on the tractor 1, or by changing the gear stage of the transmission 5 using the shift member (shift lever, shift switch) 211.

In addition, after automatic steering has started, the driver can end automatic steering by operating the steering changeover switch 52 at any point. That is, the end point of the planned driving line L2 can be set by ending automatic steering by operating the steering changeover switch 52. In other words, the length from the start point to the end point of the planned driving line L2 can be set longer or shorter than the driving reference line L1. In other words, the planned driving line L2 is not associated with the length of the driving reference line L1, and the planned driving line L2 allows the vehicle to travel a distance longer than the length of the driving reference line L1 while automatically steering.

As shown in FIG. 1, the steering device 11 has an automatic steering mechanism 37. The automatic steering mechanism 37 is a mechanism that automatically steers the vehicle body 3, and automatically steers the vehicle body 3 based on the position of the vehicle body 3 (vehicle body position) detected by the positioning device 40. The automatic steering mechanism 37 includes a steering motor 38 and a gear mechanism 39. The steering motor 38 is a motor whose rotation direction, rotation speed, rotation angle, etc. can be controlled based on the vehicle body position. The gear mechanism 39 includes a gear provided on the steering shaft 31 and rotating with the steering shaft 31, and a gear provided on the rotating shaft of the steering motor 38 and rotating with the rotating shaft. When the rotating shaft of the steering motor 38 rotates, the steering shaft 31 automatically rotates (turns) via the gear mechanism 39, and the steering direction of the front wheels 7F can be changed so that the vehicle body position coincides with the planned driving line L2.

As shown in FIG. 1, the tractor 1 is equipped with a setting switch 51. The setting switch 51 is a switch that switches to a setting mode in which settings are made at least before the start of automatic steering. The setting mode is a mode in which various settings related to automatic steering are made before the start of automatic steering, such as a mode in which the start and end points of the driving reference line L1 are set.

The setting switch 51 can be switched ON or OFF. When it is ON, it outputs a signal indicating that the setting mode is active, and when it is OFF, it outputs a signal indicating that the setting mode is inactive. When it is ON, the setting switch 51 outputs a signal indicating that the setting mode is active to the display device 45 (described below), and when it is OFF, it outputs a signal indicating that the setting mode is inactive to the display device 45.

The tractor 1 is equipped with a steering changeover switch 52. The steering changeover switch 52 is a switch that switches the start or end of automatic steering. Specifically, the steering changeover switch 52 can be switched from the neutral position to up, down, forward, or backward, and outputs the start of automatic steering when switched downward from the neutral position while the setting mode is active, and outputs the end of automatic steering when switched upward from the neutral position while the setting mode is active. In addition, when the steering changeover switch 52 is switched backward from the neutral position while the setting mode is active, it outputs that the start point P10 of the driving reference line L1 is set, and when the steering changeover switch 52 is switched forward from the neutral position while the setting mode is active, it outputs that the end point P11 of the driving reference line L1 is set. That is, the steering changeover switch 52 serves both as a registration switch that sets the start position (start point P10) and end position (end point P11) of the driving reference line L1, and as a switch that switches between starting and ending automatic steering.

As shown in FIG. 1, the tractor 1 is equipped with multiple control devices 60. The multiple control devices 60 are devices that control the travel system, the work system, calculate the vehicle body position, and the like in the tractor 1. The multiple control devices 60 are a first control device 60A, a second control device 60B, and a third control device 60C.

The first control device 60A receives the satellite signal (received information) received by the receiving device 41 and the measurement information (acceleration, angular velocity, etc.) measured by the inertial measurement device 42, and determines the vehicle position based on the received information and the measurement information.

The first control device 60A also has a reference registration unit 150. The reference registration unit 150 is composed of electric and electronic circuits provided in the first control device 60A, programs stored in the CPU, etc., and the like. As described above, the reference registration unit 150 registers the driving reference line L1, that is, sets the start point P10 and the end point P11. When the steering changeover switch 52 is operated to the start point setting side in a situation where the tractor 1 is driven by manual steering in the setting mode, the reference registration unit 150 sets the vehicle position to the start point P10 of the driving reference line L1, and when the steering changeover switch 52 is operated to the end point setting side, the reference registration unit 150 sets the vehicle position to the end point P11 of the driving reference line L1.

The second control device 60B has an automatic steering control unit 200. The automatic steering control unit 200 is composed of electric and electronic circuits provided in the second control device 60B, programs stored in a CPU, etc. The automatic steering control unit 200 controls the steering motor 38 of the automatic steering mechanism 37 so that the vehicle body 3 travels along the planned travel line L2.

As shown in FIG. 3, when the steering changeover switch 52 is operated to the automatic steering start side, the automatic steering control unit 200 performs automatic steering of the tractor 1 (body 3) based on the planned driving line L2 parallel to the driving reference line L1. If the deviation between the body position and the planned driving line L2 is less than a threshold, the automatic steering control unit 200 maintains the rotation angle of the rotation shaft of the steering motor 38. If the deviation (position deviation) between the body position and the planned driving line L2 is equal to or greater than the threshold and the tractor 1 is located to the left of the planned driving line L2, the automatic steering control unit 200 rotates the rotation shaft of the steering motor 38 so that the steering direction of the tractor 1 is to the right. That is, the automatic steering control unit 200 sets the steering angle to the right so that the position deviation is zero. When the deviation between the vehicle body position and the planned travel line L2 is equal to or greater than the threshold value and the tractor 1 is positioned to the right of the planned travel line L2, the automatic steering control unit 200 rotates the rotating shaft of the steering motor 38 so that the steering direction of the tractor 1 is to the left. In other words, the automatic steering control unit 200 sets the steering angle to the left so that the position deviation becomes zero.

In the above embodiment, the steering angle of the steering device 11 is changed based on the deviation between the vehicle body position and the planned travel line L2. However, if the orientation of the planned travel line L2 and the orientation (vehicle body orientation) F1 of the travel direction (travel direction) of the tractor 1 (vehicle body 3) are different, that is, if the angle θg of the vehicle body orientation F1 with respect to the planned travel line L2 is equal to or greater than a threshold value, the automatic steering control unit 200 may set the steering angle so that the angle θg becomes zero (the vehicle body orientation F1 matches the orientation of the planned travel line L2). The automatic steering control unit 200 may also set the final steering angle in automatic steering based on the steering angle calculated based on the deviation (position deviation) and the steering angle calculated based on the orientation (orientation deviation). The setting of the steering angle in automatic steering in the above embodiment is an example and is not limited. The orientation (vehicle body orientation) F1 of the vehicle body 3 can be calculated by the positioning device 40.

When automatic steering is being performed by the automatic steering control unit 200, if the accelerator 210 is operated, the second control unit 60B changes the rotation speed of the prime mover 4 (prime mover rotation speed) according to the amount of operation of the accelerator 210. When automatic steering is being performed by the automatic steering control unit 200, if the shifting member 211 is operated, the second control unit 60B changes the gear position of the transmission 5.

The third control device 60C raises and lowers the connecting portion 8 in response to the operation of an operating member provided around the driver's seat 10. The first control device 60A, the second control device 60B, and the third control device 60C may be integrated. Furthermore, the control of the travel system, the control of the work system, and the calculation of the vehicle body position described above are not limited. As described above, the control device 60 can automatically steer the tractor 1 (vehicle body 3).

As shown in FIG. 1, the tractor 1 is equipped with a display device 45. The display device 45 is a device capable of displaying various information related to the tractor 1, and is capable of displaying at least the driving information of the tractor 1. The display device 45 is provided in front of the driver's seat 10.

The display device 45 comprises a control unit (display control unit) 46 and a display unit 47. The control unit 46 performs various controls on the display of the screen of the display device 45, etc. The control unit 46 is composed of electric and electronic circuits provided in the display device 45, and programs stored in the CPU, etc. The display unit 47 is composed of a liquid crystal panel, etc., and displays various information according to the control of the control unit 46. Note that hereinafter, the explanation will be given assuming that the control unit 46 controls the screen of the display device 45, etc.

As shown in FIG. 4, when a predetermined operation is performed, the display device 45 (control unit 46) displays a driving screen M1, a guidance screen M2, and multiple setting screens M3.

The driving screen M1 includes a rotation display section 62 that displays the rotation speed of the prime mover 4 (prime mover RPM). The rotation display section 62 includes a level display section 62a that displays the prime mover RPM using a bar or the like, and a number display section 62b that displays the prime mover RPM in numbers. When the setting of the driving reference line L1 is complete, the driving screen M1 displays a symbol mark 63a indicating that the setting of the start point P10 of the driving reference line L1 is complete, and a symbol mark 63b indicating that the setting of the end point P11 of the driving reference line L1 is complete.

As shown in FIG. 5, the guidance screen M2 includes a turning guidance screen M2a and a row-to-row guidance screen M2b. As shown in FIG. 6A, after setting the end point P11 of the driving reference line L1 or after the end of automatic steering P12, in order to start automatic steering, it is necessary to prepare the conditions for automatic steering after performing turning driving J1 by manual operation of the tractor 1. For example, as shown in FIG. 6B, after turning the tractor 1, if the difference in direction ΔF3 between the direction (vehicle direction) F1 of the tractor 1's traveling direction and the direction (line direction) F2 of the driving reference line L1 (planned driving line L2) is significantly different before automatic steering, it is difficult to steer the tractor 1 along the planned driving line L2 parallel to the driving reference line L1 even if automatic steering is started. The direction (line direction) F2 of the driving reference line L1 (planned driving line L2) coincides with the direction in which the line extends, and may be either the direction from one end of the line to the other end or the direction from the other end of the line to one end. In other words, the vehicle direction F1 and the line direction F2 coincide (there is no direction difference ΔF3) means that the traveling direction of the tractor 1 coincides with the direction in which the driving reference line L1 (planned driving line L2) extends.

As shown in Figures 7A to 7C, the turning guidance screen M2a displays the azimuth difference ΔF3, which is a condition for starting automatic steering. The driver can understand that the conditions for automatic steering are met when the azimuth difference ΔF3 is displayed small on the turning guidance screen M2a.

The turning guidance screen M2a will be described using Figures 7A to 7C. In the following description, the current planned driving line L2 along which the tractor 1 (body 3) is traveling or the planned driving line L2 immediately before the tractor 1 (body 3) finishes automatic steering will be referred to as the "planned driving line L2b," and the next planned driving line L2 after the next automatic steering ends will be referred to as the "planned driving line L2c."

The turning guidance screen M2a includes a vehicle direction display section 64, a vehicle display section 65, and a reference direction display section 66. For ease of explanation, the vehicle direction display section 64 is shown by a dotted line.

The vehicle body orientation display section 64 is a section that indicates the vehicle body orientation F1, and is shown as a straight line (a straight line extending vertically on the turning guidance screen M2a) on the turning guidance screen M2a. The display position of the vehicle body orientation display section 64 is fixed on the turning guidance screen M2a and does not change. The vehicle body display section 65 is a section that graphically represents the vehicle body 3, and is overlaid on the vehicle body orientation display section 64. The vehicle body display section 65 is a polygonal figure that includes a pointed tip 65a, and the tip 65a indicates the front of the tractor 1 (vehicle body 3).

The reference orientation display section 66 is a section that indicates the orientation F2 of the driving reference line L1 (next planned driving line L2), and is shown as a straight line on the turning guidance screen M2a. As shown in FIG. 7A, when the vehicle body orientation F1 and the line orientation F2 match, the vehicle body orientation display section 64 and the reference orientation display section 66 are displayed overlapping each other. Since the vehicle body orientation display section 64 and the reference orientation display section 66 are colored differently, the driver, etc. can visually confirm that the vehicle body orientation F1 and the line orientation F2 match.

As shown in FIG. 7B, when the azimuth difference ΔF3 between the vehicle body azimuth F1 and the line azimuth F2 increases due to the turning J1 of the tractor 1 (vehicle body 3), the control unit 46 changes the display position of the linear reference azimuth display unit 66 according to the azimuth difference ΔF3. Specifically, when the vehicle body display unit 65 is the center O1, the reference azimuth display unit 66 rotates according to the magnitude of the azimuth difference ΔF3 with the vehicle body display unit 65 as the center O1. As the azimuth difference ΔF3 increases, the display device 45 (control unit 46) increases the angle θ1 between the reference azimuth display unit 66 and the vehicle body display unit 65, and decreases the angle θ1 between the reference azimuth display unit 66 and the vehicle body display unit 65 as the azimuth difference ΔF3 decreases. As shown in FIG. 7C, when the next line display unit 68a or 68b and the vehicle body display unit 65 overlap, it indicates that the conditions for automatic steering are met. In other words, when the azimuth difference ΔF3 falls below a predetermined value, the conditions for automatic steering are met.

The turning guidance screen M2a also displays next line display sections 68a and 68b. The next line display section 68b is displayed when the adjacent width is changed as described below. The next line display section 68a is a section that indicates at least the next planned driving line L2c from the planned driving line L2b along which the tractor 1 (body 3) has traveled, and indicates the straight section along which the tractor 1 (body 3) will travel during automatic steering. The next line display section (straight section) 68a is displayed at a position a predetermined distance away from the body orientation display section 64 on the turning guidance screen M2a.

As shown in FIG. 5, the row-to-row guidance screen M2b is a screen that indicates that the tractor 1 (body 3) is being guided toward the next planned driving line L2c by automatic steering separately from the automatic steering control unit 200 when the conditions for automatic steering are met. The row-to-row guidance screen M2b includes a next line display section 68a and a guidance display section 69 that indicates that the tractor 1 (body 3) is being guided to the next line display section 68a by automatic steering (row-to-row assistance is being performed).

As shown in Figures 8 to 10C, the multiple setting screens M3 include a home setting screen M3a and a detailed setting screen M3b. The setting information on the home setting screen M3a and the detailed setting screen M3b is information about the vehicle body 3, i.e., information about automatic steering.

As shown in FIG. 8, the home setting screen M3a displays setting items 70a to 70h and setting values 71a to 71h as setting information.

Setting item 70a indicates the sensitivity of the automatic steering as a setting value 71a, and the sensitivity can be set to three setting values: sensitive, normal, and insensitive. When the setting value is set to sensitive, the steering angle of the automatic steering is large relative to the deviation (position deviation, azimuth deviation) during automatic steering. When the setting value is set to insensitive, the steering angle of the automatic steering is small relative to the deviation (position deviation, azimuth deviation) during automatic steering. When the setting value is set to normal, the steering angle of the automatic steering is a value between insensitive and sensitive relative to the deviation (position deviation, azimuth deviation) during automatic steering. In other words, the sensitivity indicates the degree of response of the change in steering angle to the deviation (position deviation, azimuth deviation).

Setting item 70b is an item that indicates the turning guidance screen M2a (turning guidance), and setting value 71b is an on/off setting that indicates whether or not to display the turning guidance screen M2a after automatic steering. When setting value 71b is "on," the turning guidance screen M2a is displayed, and when setting value 71b is "off," the turning guidance screen M2a is not displayed. In other words, setting value 71b sets whether or not turning guidance is performed using the turning guidance screen M2a. The turning guidance screen M2a is hidden when automatic steering begins.

Setting item 70c is an item that shows the row spacing guidance screen M2b (row spacing assist), and setting value 71c is an on/off setting that shows whether or not to display the row spacing guidance screen M2b when automatic steering starts. When setting value 71c is "on," the row spacing guidance screen M2b is displayed, and when setting value 71c is "off," the row spacing guidance screen M2b is not displayed. In other words, setting value 71c sets whether or not row spacing assist is performed by automatic steering.

Setting item 70d is an item that indicates the number of turns made by manual steering (turn counter), i.e., the number of tasks for which automatic steering was performed according to the planned travel line L2, and setting value 71d is an on/off setting that indicates whether or not the number of tasks is to be calculated. When setting value 71d is "on," the number of tasks is calculated, and when setting value 71d is "off," the number of tasks is not calculated.

Setting item 70e is an item that indicates the type of work, and setting value 71e is a setting value for agricultural work such as plowing, plowing, ridge painting, and sowing. Setting item 70f is an item that indicates the standard adjacent width L11, and setting value 71f is the setting value for the numerical value of the standard adjacent width L11. Setting item 70g is an item that indicates the changed adjacent width (adjacent extension width) L12, and setting value 71g is the setting value for the numerical value of the changed adjacent width L12. Setting item 70h is an item that indicates position correction (GPS position correction), and setting value 71h is the setting value for the numerical value of the position correction.

The detailed settings screen M3b is a screen for setting (inputting) and displaying the setting values 71a to 71h. When a predetermined operation is performed on the home settings screen M3a, the home settings screen M3a is switched to the detailed settings screen M3b as shown in FIG. 9. The detailed settings screen M3b includes a list display section 72 that displays a list of the setting items 70a to 70h, and a cursor K10 is displayed in the list display section 72.

When a desired setting item is selected with the cursor K10 from among the multiple setting items 70a to 70h, the detailed setting screen M3b transitions to a screen for inputting a setting value corresponding to the selected setting item. For example, as shown in FIG. 9, when the setting item 70a indicating sensitivity is selected on the detailed setting screen M3b, as shown in FIG. 10A, the detailed setting screen M3b transitions to a detailed setting screen M3b1 for changing the sensitivity. Three setting values, sensitive, normal, and insensitive, are displayed on the detailed setting screen M3b1, and the setting value can be changed by selecting a desired setting value with the cursor K10.

When the setting item 70f indicating the reference adjacent width L11 is selected on the detailed setting screen M3b shown in FIG. 9, the detailed setting screen M3b transitions to a detailed setting screen M3b2 for changing the reference adjacent width L11, as shown in FIG. 10B. The detailed setting screen M3b2 displays a reference input section 75 for inputting the reference adjacent width L11. The reference input section 75 includes a plurality of digit input sections for inputting a numerical value for each digit, and includes, for example, a 1-digit input section 75a for inputting the first digit numerical value, a 2-digit input section 75b for inputting the second digit numerical value, a 3-digit input section 75c for inputting the third digit numerical value, and a determination section 75d for determining the numerical value. Note that in this embodiment, the reference input section 75 is described as a digit input section for inputting a three-digit number, but the number of digits is not limited.

When a setting item 70g indicating the changed adjacent width (adjacent extension width) L12 is selected on the detailed setting screen M3b shown in FIG. 9, the detailed setting screen M3b transitions to a detailed setting screen M3b3 for changing the changed adjacent width L12, as shown in FIG. 10C. The detailed setting screen M3b3 displays a change input section 76 for inputting the changed adjacent width L12. The change input section 76 is composed of multiple digit input sections for inputting a numerical value digit by digit, and includes, for example, a one-digit input section 76a for inputting the first digit numerical value, a two-digit input section 76b for inputting the second digit numerical value, and a determination section 76c for determining the numerical value. Note that in this embodiment, the change input section 76 is described as a digit input section for inputting a two-digit number, but the number of digits is not limited.

As shown in FIG. 1 and FIG. 17, the tractor 1 (body 3) is equipped with an input button 80. The input button 80 is connected to the display device 45 (control unit 46). The input button 80 is, for example, an automatic return type push button (push button) that can be turned ON/OFF. The input button 80 can be used to switch screens, move the cursor K10, and set settings on multiple setting screens M3 by performing two operations, a first operation and a second operation.

As shown in FIG. 17, the input button 80 can perform a short press operation with a short push time (pressing time, ON time) T10 as a first operation, and a long press operation with a longer pressing time T10 than the short press operation as a second operation.

The input button 80 is attached, for example, to a front cover (pilot stand cover) 151 provided in front of the driver's seat 10. The display device 45, setting switch 51, steering changeover switch 52, correction switch 53, shuttle lever 91, etc. are also attached to the pilot stand cover 151.

When a long press is performed, the display device 45 (control unit 46) switches between multiple setting screens M3, and when a short press is performed on the switched setting screen M3, it moves the cursor K10 to a specific setting item among the multiple setting items 70a to 70h, and further, when a long press is performed when the cursor K10 is located on an item of the specific setting item, it determines the specific setting item.

Specifically, as shown in Fig. 8, when the input button 80 is pressed and held on the home setting screen M3a, the home setting screen M3a is switched to the detailed setting screen M3b as shown in Figs. 8 and 9. As shown in Fig. 9, on the detailed setting screen M3b, each time the input button 80 is pressed and held briefly, the position of the cursor K10 changes, and the cursor K10 can be positioned on a specific setting item from among the multiple setting items 70a to 70h.

In FIG. 9, when the input button 80 is pressed and held while the cursor K10 is positioned on the setting item 70a indicating sensitivity, the setting item 70a indicating sensitivity is selected, and as shown in FIG. 10A, the detailed setting screen M3b is switched to the detailed setting screen M3b1 for setting the sensitivity.

In addition, in FIG. 9, if the input button 80 is pressed and held while the cursor K10 is positioned on the setting item 70f indicating the reference adjacent width L11, the setting item 70f indicating the reference adjacent width L11 is selected, and as shown in FIG. 10B, the detailed setting screen M3b is switched to the detailed setting screen M3b2 for setting the reference adjacent width L11.

In addition, in FIG. 9, if the input button 80 is pressed and held while the cursor K10 is positioned on the setting item 70g indicating the changed adjacent width L12, the setting item 70g indicating the changed adjacent width L12 is confirmed, and as shown in FIG. 10C, the detailed setting screen M3b is switched to a detailed setting screen M3b3 for setting the changed adjacent width L12.

As shown in FIG. 10A, on the setting screen (detailed setting screen M3b1) for setting a setting value, the display device 45 moves the cursor K10 to one of a number of setting values (sensitive, normal, insensitive) when a short press operation is performed, and determines the specified setting value when a long press operation is performed when the cursor K10 is located at a specified setting value. For example, when the cursor K10 has been moved to sensitive by a short press operation and then a long press operation is performed, the setting value can be set to sensitive.

As shown in Figures 10B and 10C, on the setting screens (detailed setting screens M3b2 and M3b3) for setting a setting value, when a short press operation is performed, the display device 45 moves the cursor K10 to a predetermined digit among the multiple digits of the setting value, when a long press operation is performed while the cursor K10 is located at a predetermined digit, the predetermined digit is determined, and further, when a short press operation is performed after the predetermined digit is determined, the numerical value of the predetermined digit is changed.

As shown in FIG. 10B, in the reference input section 75 of the detailed setting screen M3b2, by pressing the input button 80 for a short time, the cursor K10 can be moved to any one of the 1-digit input section 75a, 2-digit input section 75b, 3-digit input section 75c, and decision section 75d. For example, in the 3-digit input section 75c, by pressing the input button 80 for a long time, the third digit is decided. After the third digit is decided, the number is counted up by one each time the input button 80 is pressed for a short time, and the third digit can be changed to any one of 0 to 9. In the reference input section 75, after inputting numerical values in the 1-digit input section 75a, 2-digit input section 75b, and 3-digit input section 75c, the cursor K10 can be moved to the decision section 75d and then pressed for a long time to set the numerical values input in the 1-digit input section 75a, 2-digit input section 75b, and 3-digit input section 75c as the reference adjacent width L11.

As shown in FIG. 10C, in the change input section 76 of the detailed setting screen M3b3, by pressing the input button 80 for a short time, the cursor K10 can be moved to the one-digit input section 76a, the two-digit input section 76b, or the decision section 76c. By pressing and holding the input button 80 for a long time, the one-digit input section 76a or the two-digit input section 76b can be selected. After selecting the one-digit input section 76a or the two-digit input section 76b, the number can be changed to any of 0 to 9 by pressing the input button 80 for a short time 80b. In the change input section 76, after inputting a numerical value into the one-digit input section 76a or the two-digit input section 76, the cursor K10 can be moved to the decision section 76c and then pressed and held for a long time to set the numerical value input into the one-digit input section 76a or the two-digit input section 76b as the change adjacent width L12.

Figure 11 is a diagram summarizing the flow of operations resulting from the operation of the input button 80.

In FIG. 11, in the case of a short press operation (S2, Yes) on either the driving screen M1, the guidance screen M2, or the home setting screen M3a (S1), the driving screen M1, the guidance screen M2, and the home setting screen M3a are switched in order (S3). In the case of a long press operation rather than a short press operation (S2, No), it is determined whether the screen at the time of the long press operation is the home setting screen M3a (S4). If it is the home setting screen M3a (S4, Yes), the detailed setting screen M3b is displayed (S5). If a short press operation is performed on the detailed setting screen M3b (S6, Yes), the cursor K10 is moved, that is, moved to a specific setting item from among the multiple setting items 70a to 70h (S7). In the case of a long press operation rather than a short press operation (S6, No), the specific setting item is determined, and the detailed setting screen M3b1 to M3b3 corresponding to the specific setting item is displayed (S8). In the case of the detailed setting screen M3b2, M3b3 (S9, Yes), it is determined whether or not the operation is a short press operation (S10). If the operation is a short press operation (S10, Yes), the cursor K10 is moved to a predetermined digit among the multiple digits (S11). If the operation is a long press operation rather than a short press operation (S10, No), the predetermined digit is determined (S12), and if the operation is a short press operation (S13, Yes), the value of the predetermined digit is counted up (S14). If the operation is a long press operation rather than a short press operation (S13, No), the value of the predetermined digit is determined (S15). If the long press operation is performed with the cursor K10 moved to the determination section 75d or 76c, the standard adjacent width L11 or the changed adjacent width L12 can be set (S16). Note that S11 to S15 can be performed repeatedly.

If the screen is not the detailed setting screen M3b2 or M3b3, i.e., if the screen is the detailed setting screen M3b1 (S9, No), it is determined whether or not the operation is a short press (S17). If the operation is a short press (S17, Yes), the cursor K10 is moved to a predetermined setting value (sensitivity) among multiple setting values (sensitivity) (S19). If the operation is not a short press but a long press (S17, No), the predetermined setting value (sensitivity) is determined (S18).

As described above, by short pressing and long pressing of one input button 80, it is possible to not only switch between multiple setting screens M3, but also to change the setting value. Note that the input button 80 can also switch between other screens in addition to the multiple setting screens M3. For example, it can switch between the driving screen M1 and the guidance screen M2.

Now, when work (ground work) is performed in the field H1, the working device 2 corresponding to the work is coupled to the tractor 1, and the tractor 1 coupled with the working device 2 is driven in the field H1. As shown in FIG. 12, for example, when ground work is performed in the field H1, the work is performed by repeatedly going straight and turning, as shown by the planned driving line L2. That is, when the tractor 1 approaches the edge of the ridge, it turns and then goes straight, and when it approaches the edge of the opposite ridge, it turns again and then goes straight. When turning, the working device 2, which is in the working position, is raised, and no work is performed during the turning portion.

In this way, when working while making repeated turns, automatic steering is performed in the straight-line sections SLn (n = 1, 2, 3, ...) of the planned travel line L2. For example, in the first straight-line section SL1, the driver operates the steering changeover switch 52 to start automatic steering at the start position ST1 (STn: n = 1), and then the driver operates the steering changeover switch 52 while watching the work status to end automatic steering at the end position EN1 (ENn: n = 1). In addition, the driver operates the correction switch 53 depending on the situation in which automatic steering is being performed in the first straight-line section SL1 to fine-tune the body position of the tractor 1, or operates the accelerator 210 and the speed change member 211 to adjust the vehicle speed of the tractor 1 depending on the work situation.

After terminating automatic steering at end position EN1, the driver manually steers the tractor 1 to make a turn, and at the second straight section SL2, the driver operates the steering changeover switch 52 to start automatic steering at start position ST2, and then operates the steering changeover switch 52 to end automatic steering at end position EN2. That is, in the field H1, the tractor 1 travels through turning sections RLn connected by straight sections SLn while manually steering.

As described above, by operating the steering changeover switch 52 at the start position STn (n = 1, 2, 3, ...) and the end position ENn (n = 1, 2, 3, ...), work can be performed while repeating automatic steering and manual steering.

The planned driving line L2 is set by the driving line setting unit 201. The driving line setting unit 201 is composed of an electric/electronic circuit provided in the second control unit 60B, a program stored in the CPU, etc. The driving line setting unit 201 may be provided in the first control unit 60A or the third control unit 60C, and is not limited thereto. The driving line setting unit 201 sets the planned driving line L2 based on the driving reference line L1. That is, the driving line setting unit 201 sets a straight portion SLn parallel to the driving reference line L1 each time automatic steering is started. For example, when the first automatic steering is started (when n = 1), the driving line setting unit 201 sets the straight portion SL1 at a position a predetermined distance away from the driving reference line L1. The adjacent width L10 between the driving reference line L1 and the straight portion SL1 is set to the reference adjacent width L11. In addition, for example, when automatic steering is started for the second or subsequent times (when n = 2 or more), the driving line setting unit 201 sets a straight section SLn (n = 2 or more) at a position a predetermined distance away from the driving reference line L1.

Here, the travel line setting unit 201 can change the adjacent width L10 between adjacent planned travel lines L2 among the multiple planned travel lines L2. That is, the travel line setting unit 201 can change the adjacent width L10 between the previous straight-line portion SLn-1 (n=2 or more) and the straight-line portion SLn (n=2 or more) adjacent to the previous straight-line portion SLn-1 (n=2 or more).

As shown in FIG. 1, the tractor 1 is equipped with a change operation member 81. The change operation member 81 is a switch that can be switched ON/OFF, and when it is ON, it commands a change in the adjacent width L10, and when it is OFF, it does not command a change in the adjacent width L10.

The travel line setting unit 201 changes the adjacent width L10 when a change is commanded by the change operation member 81. For example, when a change command is received during automatic steering, the travel line setting unit 201 changes the adjacent width L10 between the straight-line portion SLn-1 (n = 2 or more) currently being automatically steered and the next straight-line portion SLn (n = 2 or more). More specifically, the travel line setting unit 201 sets the adjacent width L10 to a value obtained by adding the changed adjacent width L12 to the reference adjacent width L11 (L10 = L11 + L12). For example, when the third straight-line portion SL3 is being automatically steered and a change command is received by turning the change operation member 81 ON, the travel line setting unit 201 sets the adjacent width L10 between the third straight-line portion SL3 currently being automatically steered and the next fourth straight-line portion SL4 to L10 = L11 + L12, not L10 = L11. If there is no change command in the next, fourth straight section SL4, the adjacent width L10 of the fifth straight section SL5 returns to the reference adjacent width L11.

Even if the change operation member 81 is operated before starting automatic steering, such as during a turn after automatic steering has ended, the driving line setting unit 201 sets the adjacent width L10 of the previous straight section SLn-1 (n=2 or more) where automatic steering has already been performed and the next straight section SLn to L10=L11+L12. Also, if no change command is issued by the change operation member 81, the driving line setting unit 201 sets the reference adjacent width L11 to the adjacent width L10.

Figure 13 shows the flow of changing the adjacent width L10 using the change operation member 81.

In FIG. 13, whether or not a change command has been issued during automatic steering and after the end of automatic steering is determined (S20). If a change command has been issued (S20, Yes), the travel line setting unit 201 changes the adjacent width L10 to the value obtained by adding the changed adjacent width L12 to the reference adjacent width L11 in the next planned travel line L2c (S21). If there is no change command (S20, No), the travel line setting unit 201 fixes the adjacent width L10 to the reference adjacent width L11 in the next planned travel line L2c and does not change it (S22). If the work is completed (S23, Yes), the travel line setting unit 201 ends the processing, and if the work is not completed, it returns to S20. As shown in FIG. 13, if there is a change command, the adjacent width L10 of the next planned travel line L2c is changed, and if there is no change command, the adjacent width L10 of the next planned travel line L2c is not changed.

The change operation member 81 may also be used as the correction switch 53. The correction switch 53 is a switch that corrects the vehicle body position (positioned position) determined by the positioning device 40, and is a switch that can be swung to one side (left side) and the other side (right side). For example, the correction switch 53 is a switch that, when pressed briefly to the left, corrects the positioning position to shift to the right side of the vehicle body 3, thereby steering the tractor 1 (vehicle body 3) to the left during automatic steering, and when pressed briefly to the right, corrects the positioning position to shift to the left side of the vehicle body 3, thereby steering the tractor 1 (vehicle body 3) to the right during automatic steering. A change command may also be issued when the correction switch 53 is pressed and held to the left or right side.

The change operation member 81 may also be used by the display device 45. For example, an adjacent width change icon may be provided on the screen of the display device 45, and a change command may be issued when the icon is pressed.

In the above embodiment, the adjacent width L10 was changed by manually operating the change operation member 81, but the adjacent width L10 may also be changed automatically.

The tractor 1 is equipped with a calculation unit 202. The calculation unit 202 calculates the number of ground operations (number of ground operations). For example, since the tractor 1 performs operations (ground operations) while moving straight, the sum of the number of driving reference lines L1 and the number of straight sections SLn can be considered as the number of operations (number of operations) WTi in the field H1. In other words, the number of operations WTi can be expressed as the number of driving reference lines L1 + the number of straight sections SLn. Note that since the driving reference line L1 may be set without performing operations, the number of operations WTi may be expressed as the number of operations WTi = the number of straight sections SLn, without including the number of driving reference lines L1.

Specifically, the calculation unit 202 sets the number of times the steering changeover switch 52 is switched to either start or end of automatic steering as the number of work units WTi. For example, after the setting of the driving reference line L1 is completed, the calculation unit 202 sets the number of times the start of automatic steering is selected with the steering changeover switch 52 (number of start changes) as the number of work units WTi. In other words, the calculation unit 202 sets the number of n of the start position STn as the number of work units WTi.

Alternatively, the calculation unit 202 sets the number of times the end of automatic steering is selected with the steering changeover switch 52 (the number of end switches) after setting the driving reference line L1 as the number of work lines WTi. In other words, the calculation unit 202 sets the number of n of the end position ETn as the number of work lines WTi.

Alternatively, the calculation unit 202 may set the number of times the vehicle body 3 is turned by manual steering (number of end switches) as the number of work WTi. For example, after setting the driving reference line L1, the calculation unit 202 determines whether or not manual steering is occurring. If the calculation unit 202 determines that manual steering is occurring, it monitors the steering angle of the steering device 11 during manual steering. Then, when the steering angle of the steering device 11 during manual steering becomes equal to or greater than a turning threshold (a value at which a turning can be determined), it determines that the vehicle body 3 has turned and counts the number of turns. In other words, the calculation unit 202 sets the number of n turns RLn on the planned driving line L2 as the number of work WTi.

Whether to set the start switch count, end switch count, or end switch count as the work number WTi can be set on the setting screen of the display device 45, etc. As shown in Figures 7A to 7C, the work number WTi may be displayed in the number display section 90 on the turning guidance screen M2a.

When the number of work lines WTi calculated by the calculation unit 202 reaches a predetermined number, the travel line setting unit 201 changes the adjacent width L10. Specifically, when the number of work lines WTi reaches the predetermined number, the travel line setting unit 201 changes the adjacent width L10 to a value obtained by adding the changed adjacent width L12 to the reference adjacent width L11, and when the number of work lines WTi does not reach the predetermined number, the travel line setting unit 201 changes the reference adjacent width L11 to the adjacent width L10. For example, when the number of work lines WTi in the straight section SLn-1 (n=2 or more) where the current automatic steering is being performed is 10 lines and the predetermined number is 10 lines, the adjacent width L10 between the straight section SLn-1 (n=2 or more) and the next straight section SLn (n=2 or more) is set to L10=L11+L12, not L10=L11.

Figure 14 shows the flow of automatically changing the adjacent width L10.

In FIG. 14, the calculation unit 202 calculates the number of work lines WTi (S30). It is determined whether the number of work lines WTi has reached a predetermined number (S31). If the number of work lines WTi has reached the predetermined number (S31, Yes), the travel line setting unit 201 changes the adjacent width L10 to the standard adjacent width L11 plus the change adjacent width L12 on the next planned travel line L2c (S32). After changing the adjacent width L10, the travel line setting unit 201 resets the number of work lines WTi (S33). If the number of work lines WTi has not reached the predetermined number (S31, No), the travel line setting unit 201 fixes the adjacent width L10 to the standard adjacent width L11 on the next planned travel line L2c and does not change it (S34). If the work is completed (S35, Yes), the travel line setting unit 201 ends the process, and if the work is not completed, the process returns to S30. As shown in FIG. 14, the adjacent width L10 of the next planned travel line L2c can be changed for each work number. The predetermined number can be set on the setting screen of the display device 45.

As shown in Figures 7A to 7C, when the adjacent width L10 is changed, that is, when the modified adjacent width L12 is added to the reference adjacent width L11, the next line display section 68b, which is different from the next line display section 68a, is displayed on the turning guidance screen M2a. The next line display section 68a is the straight-line portion SLn-1 (n = 2 or more) when the adjacent width L10 is the reference adjacent width L11, and the next line display section 68b is the straight-line portion SLn (n = 2 or more) when the adjacent width L10 is the reference adjacent width L11 plus the modified adjacent width L12. As a result, when the next line display section 68b is displayed on the turning guidance screen M2a, the driver can understand that the next planned driving line L2c has extended (changed) the adjacent width L10.

Now, when the adjacent width L10 is changed, the row-to-row assist that automatically steers the tractor 1 (body 3) to the next planned driving line L2c is different. As shown in FIG. 1, the tractor 1 is equipped with a first assist control unit 204 and a second assist control unit 205. The first assist control unit 204 and the second assist control unit 205 are composed of electric and electronic circuits provided in the second control device 60B, programs stored in the CPU, etc. Note that they may be provided in the first control device 60A or the third control device 60C, and are not limited thereto.

As shown in FIG. 15A, if the adjacent width L10 has not been changed, after automatic steering ends, the first assist control unit 204 automatically guides the vehicle body 3 to the next planned traveling line L2c1 (straight section SLn-1 (n=2 or more)) where the adjacent width L10 has not been changed, separately from the automatic steering control unit 200. The first assist control unit 204 refers to the vehicle body position detected by the positioning device 40, and automatically changes the steering angle so that the vehicle body position approaches the next planned traveling line L2c1, and aligns the vehicle body position with the next planned traveling line L2c1.

As shown in FIG. 15B, when the adjacent width L10 is changed, the second assist control unit 205 automatically guides the vehicle body 3 to the next planned driving line L2c2 (straight section SLn (n=2 or more)) for which the adjacent width L10 has been changed, separately from the automatic steering control unit 200, after automatic steering is completed. The second assist control unit 205 refers to the vehicle body position detected by the positioning device 40, automatically changes the steering angle so that the vehicle body position approaches the next planned driving line L2c2, and aligns the vehicle body position with the next planned driving line L2c2.

In the above embodiment, automatic steering when the tractor 1 (body 3) moves forward has been described, but it is also possible to perform automatic steering when the tractor 1 (body 3) moves backward. When performing automatic steering for reverse, first, the shuttle lever 91 located near the driver's seat 10 is switched from the neutral position to the reverse side, thereby switching the forward/reverse switching unit 13 to the reverse side, and the driver performs manual steering. As with forward, the conditions for automatic steering are prepared so that the azimuth difference ΔF3 between the vehicle body azimuth F1 and the line azimuth F2 when moving backward is equal to or less than a predetermined value.

In the case of forward automatic steering, the driver performs manual steering while looking at the display device 45 installed in front of the driver's seat 10 so that the conditions for automatic steering are met. On the other hand, in the case of reverse automatic steering, the driver prepares the conditions for automatic steering by manual steering while looking back, so it is difficult to see the display device 45 installed in front of the driver's seat 10. Therefore, the tractor 1 is equipped with an alarm device 95 that notifies information related to automatic steering, separate from the display device 45 located in front of the driver's seat 10. The alarm device 95 is composed of a speaker that outputs sound (audio), a buzzer, a lamp that outputs light, an LED, etc. In the case of a speaker or buzzer, the alarm device 95 is installed around the driver's seat 10, and in the case of a lamp or LED, it is installed to the side or rear of the driver's seat 10.

The notification device 95 notifies by sound or light whether the conditions for starting automatic steering are met when automatic steering is in reverse. For example, as shown in section T1 of FIG. 16, as the azimuth difference ΔF3 becomes smaller, the ON (output)/OFF (stop) interval of the speaker, buzzer, lamp, and LED is shortened. That is, as the azimuth difference ΔF3 becomes smaller, the interval for outputting sound is shortened in the case of the speaker and buzzer, and the interval for lighting is shortened in the case of the lamp and LED. As shown in section T2 of FIG. 16, when the azimuth difference ΔF3 is equal to or less than a predetermined value and the conditions for automatic steering are met, the ON/OFF interval of the speaker, buzzer, lamp, and LED is maintained. That is, as shown in sections T1 and T2, the notification device 95 makes the form of sound or light before the conditions for automatic steering are met different from the form of sound or light after the conditions for automatic steering are met. As shown in section T3 of FIG. 16, when automatic reverse steering is initiated, the notification device 95 stops outputting (turns OFF).

As shown in FIG. 18, a notification device 96 separate from the notification device 95 may be provided at the rear of the tractor 1 (body 3) to notify the outside that the tractor 1 is reversing with automatic steering. Also, the notification device 95 and the notification device 96 may be combined into one device. In this case, the notification device 95 does not stop outputting.

When automatic steering is performed for forward travel, for example when the shuttle lever 91 is switched to the forward travel side after the driving reference line L1 is registered, the display device 45 displays a turning guidance screen M2a for preparing the conditions for starting automatic steering. On the other hand, when automatic steering is performed for reverse travel, for example when the shuttle lever 91 is switched to the reverse travel side after the driving reference line L1 is registered, the display device 45 displays at least a screen different from the turning guidance screen M2a, for example, a driving screen M1 and a screen M5 encouraging the driver to look backward. The screen M5 displays, for example, a message such as "Look backward as this is automatic steering for reverse travel." In this way, when automatic steering is performed for reverse travel, the driver's attention is directed to the notification device 95 rather than the display device 45, thereby improving the operability of automatic steering for reverse travel.

The work vehicle 1 includes a vehicle body 3 that can be driven by either manual steering using a steering wheel 30 or automatic steering using the steering wheel 30, a reference registration unit 150 that registers a driving reference line L1 based on the position of the vehicle body 3 driven by manual steering, a driving line setting unit 201 that can set multiple driving schedule lines L2 in automatic steering based on the driving reference line L1, and an automatic steering control unit 200 that controls automatic steering based on the driving schedule lines L2, and the driving line setting unit 201 can change the adjacent width L10 between adjacent driving schedule lines L2 among the multiple driving schedule lines L2. According to this, for example, in a situation where work is being performed while performing automatic steering, the adjacent width L10 can be changed according to the work situation, etc. For example, when a passage is required for driving another tractor (vehicle body) in a field for pest control, the adjacent width L10 can be increased or decreased according to the size of the other tractor, thereby securing a passage corresponding to the subsequent work. In addition, automatic steering can be performed to suit various situations, such as when it is necessary to partially change the furrow width.

The work vehicle 1 is equipped with a change operation member 81 that commands a change to the adjacent width L10, and the travel line setting unit 201 changes the adjacent width L10 when a change is commanded by the change operation member 81. In this way, the adjacent width L10 can be changed only when a change command is issued by the driver or the like using the change operation member 81.

The work vehicle 1 is equipped with a calculation unit 202 that calculates the number of work lines WTi that have been performed on the ground, and the travel line setting unit 201 changes the adjacent width L10 based on the number of work lines WTi calculated by the calculation unit 202 being a predetermined number. This makes it possible to automatically change the adjacent width L10 each time the number of work lines WTi reaches the predetermined number.

The work vehicle 1 is equipped with a display device 45 having a reference input unit 75 for inputting a reference adjacent width L11, which is a reference adjacent width between the planned travel lines L2, and a change input unit 76 for inputting a changed adjacent width L12, and the travel line setting unit 201 changes the adjacent width L10 based on the reference adjacent width L11 and the changed adjacent width L12. With this, for example, it is possible to easily set each of the reference adjacent width L11 and the changed adjacent width L12, and it is possible to easily change the adjacent width L10 by the changed adjacent width L12 only when it becomes necessary to change the adjacent width L10 while performing automatic steering based on the reference adjacent width L11.

When a change is commanded by the change operation member 81, the driving line setting unit 201 changes the adjacent width L10 to a value obtained by adding the changed adjacent width L12 to the reference adjacent width L11, and when a change is not commanded by the change operation member 81, it sets the reference adjacent width L11 to the adjacent width L10. This makes it possible to easily set, for example, the reference adjacent width L11 and the changed adjacent width L12, and to easily change the adjacent width L10 by the changed adjacent width L12 only when a change command is issued by the driver or the like using the change operation member 81 while performing automatic steering using the reference adjacent width L11.

When the number of work lines WTi calculated by the calculation unit 202 reaches a predetermined number, the travel line setting unit 201 changes the adjacent width L10 to a value obtained by adding the reference adjacent width L11 to the modified adjacent width L12, and when the number of work lines WTi does not reach the predetermined number, the travel line setting unit 201 sets the reference adjacent width L11 to the adjacent width L10. With this, for example, it is possible to easily set the reference adjacent width L11 and the modified adjacent width L12, and it is possible to easily change the adjacent width L10 automatically by the modified adjacent width L12 each time the number of work lines WTi reaches the predetermined number while performing automatic steering by the reference adjacent width L11.

The work vehicle 1 is equipped with a first assist control unit 204 that automatically guides the vehicle body 3 to the planned travel line L2 whose adjacent width L10 has not been changed after the end of automatic steering if the adjacent width L10 has not been changed, and a second assist control unit 205 that automatically guides the vehicle body 3 to the planned travel line L2 whose adjacent width L10 has been changed after the end of automatic steering if the adjacent width L10 has been changed. This not only makes it easier for the work vehicle 1 to enter the planned travel line L2 that corresponds to the reference adjacent width L11, but also makes it easier for the work vehicle 1 to enter the planned travel line L2 whose adjacent width L10 has been changed.

The work vehicle 1 is equipped with a vehicle body 3 capable of travelling, a coupling section 8 provided on the vehicle body 3 to which a work device can be coupled, a display device 45 capable of displaying multiple setting screens M3 for inputting or displaying setting information including setting items 70a-70h and setting values 71a-71h relating to settings related to the vehicle body 3, and an input button 80 for inputting setting information and switching between multiple setting screens M3 by performing a first operation and a second operation. With this, it is possible to input setting information including setting items 70a-70h and setting values 71a-71h and to display the setting screen M3 by performing only two operations, the first operation and the second operation. In other words, the screens can be switched and set with the fewest number of buttons (input button 80), which not only reduces the number of parts but also makes it possible to compact the space required for the input buttons, etc.

The input button 80 can be operated as a first operation, a short press operation with a short press time, and as a second operation, a long press operation with a longer press time than the first operation. The display device 45 switches between multiple setting screens M3 when the long press operation is performed, and moves the cursor to a specific setting item among the multiple setting items 70a to 70h when the short press operation is performed on the switched setting screen M3, and further, when the cursor is located on a setting item, selects the specific setting item when the long press operation is performed. In this way, the multiple setting screens M3 can be switched and the setting items 70a to 70h can be selected by the long press operation, and a specific setting item can be selected from the multiple setting items 70a to 70h by the short press operation, improving operability despite being a single button.

The display device 45 can display a screen other than the setting screen M3, and the input button 80 switches to another screen when it is pressed briefly. This allows screens other than the setting screen M3 for inputting setting information to be switched by a short press, which also improves operability.

On the setting screens (detailed setting screens M3b2 and M3b3) for setting a set value, the display device 45 executes movement of the cursor K10 to a predetermined digit of the multiple digits of the set value when a short press operation is performed, executes determination of the predetermined digit when a long press operation is performed when the cursor K10 is located at the predetermined digit, and further executes a change of the numerical value of the predetermined digit when a short press operation is performed after the predetermined digit has been determined. According to this, when setting a set value having multiple digits, a predetermined digit of the multiple digits can be determined by a long press operation, and the predetermined digit and numerical value can be changed by a short press operation. In other words, a set value consisting of multiple digits can be set by a long press operation and a short press operation, even though it is a single button.

The vehicle body 3 can be driven either manually by the steering wheel 30 or automatically by the steering wheel 30, and the display device 45 displays the setting items 70a-70h and setting values 71a-71h related to the automatic steering as setting information. This not only allows the setting items 70a-70h and setting values 71a-71h related to the automatic steering to be easily checked, but also allows the automatic steering setting values 71a-71h to be easily set by the input button 80.

The work vehicle 1 is equipped with a reference registration unit 150, a driving line setting unit 201, and an automatic steering control unit 200. This makes it easy to set the driving reference line L1, set the planned driving line L2, and perform automatic steering.

The display device 45 displays a setting screen M3 for setting the adjacent width L10 between adjacent planned travel lines L2 among the multiple planned travel lines L2 as a setting value. This allows the display and setting of the adjacent width L10 to be easily performed by combining the setting screen M3 with the input button 80.

The work vehicle 1 is equipped with a vehicle body 3, a reference registration unit 150, an automatic steering control unit 200, a display device 45 that displays information related to automatic steering when automatic steering is in forward motion, and a notification device 95 that notifies information related to automatic steering separately from the display device 45 when automatic steering is in reverse motion. With this, when automatic steering is performed in forward motion, the driver can check information related to automatic steering while looking at the display device 45, while when automatic steering is performed in reverse motion, the driver can check information related to automatic steering without looking at the display device 45 thanks to the notification device 95.

The work vehicle 1 is equipped with a steering changeover switch 52 that switches between starting and ending automatic steering, and after automatic steering ends, the display device 45 displays a guidance screen (turning guidance screen M2a) for preparing the conditions for starting automatic steering when automatic steering is forward, and the notification device 95 notifies the driver by sound or light whether the conditions for starting automatic steering are met when automatic steering is reverse. According to this, when automatic steering is performed for forward movement, the driver can prepare the conditions for starting automatic steering while watching the guidance screen (turning guidance screen M2a), while when automatic steering is performed for reverse movement, the conditions for starting automatic steering can be prepared by sound or light.

The display device 45 displays on the guidance screen (turning guidance screen M2a) the state in which the conditions for starting automatic steering are met according to the azimuth difference ΔF3 between the azimuth of the driving reference line L1 and the azimuth of the vehicle body 3. In this way, when performing automatic forward steering, the driver can easily check the status of the azimuth difference ΔF3 between the azimuth of the driving reference line L1 and the azimuth of the vehicle body 3 by simply looking at the guidance screen (turning guidance screen M2a).

The notification device 95 notifies the driver whether the conditions for starting automatic steering are met by changing the form of sound or light depending on the azimuth difference ΔF3 between the azimuth of the driving reference line L1 and the azimuth of the vehicle body 3. In this way, when automatic steering in reverse is to be performed, the driver can easily check the status of the azimuth difference ΔF3 by sound or light.

The display device 45 displays at least a screen different from the guidance screen (turning guidance screen M2a) when automatic steering is in reverse. This makes it possible to prevent the driver from looking at the forward guidance screen (turning guidance screen M2a) when preparing the conditions for starting automatic steering in reverse.

The display device 45 displays a screen M5 that prompts the driver to look behind when automatic steering is in reverse. This makes it possible to urge (encourage) the driver to pay attention to the rear when preparing the conditions for starting automatic steering in reverse, and to perform automatic steering in reverse smoothly.

The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

In the above embodiment, the adjacent extension width was set as the changed adjacent width L12, and when a change was commanded by the change operation member 81, the traveling line setting unit 201 changed the adjacent width L10 to the value obtained by adding the changed adjacent width L12 to the reference adjacent width L11. However, a predetermined adjacent width may be set as the changed adjacent width L12, and when a change was commanded by the change operation member 81, the traveling line setting unit 201 may change the value of the changed adjacent width L12 to the adjacent width L10.

1: Work vehicle (tractor)
3: Vehicle body 30: Steering handle 45: Display device 46: Control unit 75: Reference input unit 76: Change input unit 81: Change operation member 150: Reference registration unit 200: Automatic steering control unit 201: Travel line setting unit 202: Calculation unit 204: First assist control unit 205: Second assist control unit L1: Travel reference line L10: Adjacent width L11: Reference adjacent width L12: Changed adjacent width L2: Planned travel line L2b: Planned travel line L2c: Planned travel line L2c1: Planned travel line L2c2: Planned travel line WTi: Number of operations

Claims (2)

The driver's seat and
A steering handle and
A registration switch capable of setting a start point and an end point;
a vehicle body capable of traveling by either manual steering using the steering wheel or automatic steering of the steering wheel that steers a traveling direction so as to match a planned traveling line that is parallel to a traveling reference line that is set based on the starting point and the ending point;
A traveling device that causes the vehicle body to travel;
A steering changeover switch that switches between starting and ending the automatic steering;
An automatic steering control unit that controls the automatic steering based on the planned driving line;
a connecting portion provided on the vehicle body and capable of mounting a working device;
A display device capable of displaying a screen for changing the sensitivity of control in the automatic steering ,
The display device is capable of changing a magnitude of a steering angle with respect to a deviation in the automatic steering as the sensitivity on the screen,
A work vehicle in which the sensitivity indicates a degree of response of a change in steering angle to a deviation in the automatic steering . The work vehicle according to claim 1 , wherein the display device is capable of changing the magnitude of the steering angle with respect to the deviation in the automatic steering as the sensitivity on the screen in a plurality of stages.

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